ROS_Robot/wpb_home
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update grab_server

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This commit is contained in:
zhangwanjie 2021-06-04 15:59:42 +08:00
parent 155f977c24
commit 40025588c6
1 changed files with 2 additions and 0 deletions
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2
wpb_home_behaviors/src/wpb_home_grab_server.cpp
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@ -834,6 +834,7 @@ int main(int argc, char **argv)
}
nTimeDelayCounter ++;
VelCmd(0,0,0);
mani_ctrl_pub.publish(mani_ctrl_msg);
if(nTimeDelayCounter > 20*30)
{
fMoveTargetX = fObjGrabX -0.55 + grab_forward_offset;
@ -901,6 +902,7 @@ int main(int argc, char **argv)
}
nTimeDelayCounter++;
VelCmd(0,0,0);
mani_ctrl_pub.publish(mani_ctrl_msg);
if(nTimeDelayCounter > 3*30)
{
fMoveTargetX = -(fTargetGrabX-0.4);